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<div class="title">ascii_io.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_IO_ASCII_IO_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_IO_ASCII_IO_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/io/file_io.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLPointField.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html">   54</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html">ASCIIReader</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_file_reader.html">FileReader</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html">ASCIIReader</a> ();</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html">ASCIIReader</a> ();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_file_reader.html#a6c7b7ed00b43536739a8465064426c1b">FileReader::read</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="comment">/* Load only the meta information (number of points, their types, etc),</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">        * and not the points themselves, from a given FILE file. Useful for fast</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">        * evaluation of the underlying data structure.</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">        *</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">        * Returns:</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">        *  * &lt; 0 (-1) on error</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">        *  * &gt; 0 on success</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">        * \param[in] file_name the name of the file to load</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">        * \param[out] cloud the resultant point cloud dataset (only the header will be filled)</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">        * \param[out] origin the sensor acquisition origin (only for &gt; FILE_V7 - null if not present)</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">        * \param[out] orientation the sensor acquisition orientation (only for &gt; FILE_V7 - identity if not present)</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">        * \param[out] file_version the FILE version of the file (either FILE_V6 or FILE_V7)</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment">        * \param[out] data_type the type of data (binary data=1, ascii=0, etc)</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment">        * \param[out] data_idx the offset of cloud data within the file</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">        * \param[in] offset the offset in the file where to expect the true header to begin.</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">        * One usage example for setting the offset parameter is for reading</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">        * data from a TAR &quot;archive containing multiple files: TAR files always</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">        * add a 512 byte header in front of the actual file, so set the offset</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">        * to the next byte after the header (e.g., 513).</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a939c1979fa98597578b650eea064df05">   82</a></span>&#160;      <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a939c1979fa98597578b650eea064df05">readHeader</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                  Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation,</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                  <span class="keywordtype">int</span> &amp;file_version, <span class="keywordtype">int</span> &amp;data_type, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &amp;data_idx, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0) ;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a5a0d3da8791cd1ca79c80187da2531a7">  100</a></span>&#160;      <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a5a0d3da8791cd1ca79c80187da2531a7">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, <span class="keywordtype">int</span> &amp;file_version,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordtype">void</span> setInputFields ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a7bb863c698a17ff7036f6d1bf12041da">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a7bb863c698a17ff7036f6d1bf12041da">setInputFields</a> (<span class="keyword">const</span> std::vector&lt;pcl::PCLPointField&gt;&amp; fields);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      PCL_DEPRECATED (<span class="stringliteral">&quot;Use setInputFields&lt;PointT&gt; () instead&quot;</span>)</div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a598c81fb5c3697abe3cbe8131ae6c1a1">  121</a></span>&#160;      inline <span class="keywordtype">void</span> setInputFields (const <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        (void) p;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        setInputFields&lt;PointT&gt; ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#ac2b5e96e43e00f712717948300f21f6e">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#ac2b5e96e43e00f712717948300f21f6e">setSepChars</a> (<span class="keyword">const</span> std::string &amp;chars);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a97dac034b56d0f4b3d1aa3d8b8f7ab25">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a97dac034b56d0f4b3d1aa3d8b8f7ab25">setExtension</a> (<span class="keyword">const</span> std::string &amp;ext) { extension_ = ext; }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      std::string sep_chars_;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      std::string extension_;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      std::vector&lt;pcl::PCLPointField&gt; fields_;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      std::string name_;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#a1212f6462c0f39c72d3ea9365f27c130">  156</a></span>&#160;      <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a1212f6462c0f39c72d3ea9365f27c130">parse</a> (<span class="keyword">const</span> std::string&amp; token, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a>&amp; field, uint8_t* data_target);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      uint32_t </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_a_s_c_i_i_reader.html#ad4de8700ce7fbcc001c8d18ac4b70ea0">  163</a></span>&#160;      <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#ad4de8700ce7fbcc001c8d18ac4b70ea0">typeSize</a> (<span class="keywordtype">int</span> type);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    };</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="preprocessor">#include &lt;pcl/io/impl/ascii_io.hpp&gt;</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_IO_ASCII_IO_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html">pcl::ASCIIReader</a></div><div class="ttdoc">Ascii Point Cloud Reader. Read any ASCII file by setting the separating characters and input point fi...</div><div class="ttdef"><b>Definition:</b> ascii_io.h:55</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a1212f6462c0f39c72d3ea9365f27c130"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a1212f6462c0f39c72d3ea9365f27c130">pcl::ASCIIReader::parse</a></div><div class="ttdeci">int parse(const std::string &amp;token, const pcl::PCLPointField &amp;field, uint8_t *data_target)</div><div class="ttdoc">Parses token based on field type.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a5a0d3da8791cd1ca79c80187da2531a7"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a5a0d3da8791cd1ca79c80187da2531a7">pcl::ASCIIReader::read</a></div><div class="ttdeci">virtual int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a7bb863c698a17ff7036f6d1bf12041da"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a7bb863c698a17ff7036f6d1bf12041da">pcl::ASCIIReader::setInputFields</a></div><div class="ttdeci">void setInputFields(const std::vector&lt; pcl::PCLPointField &gt; &amp;fields)</div><div class="ttdoc">Set the ascii file point fields using a list of fields.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a939c1979fa98597578b650eea064df05"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a939c1979fa98597578b650eea064df05">pcl::ASCIIReader::readHeader</a></div><div class="ttdeci">virtual int readHeader(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, int &amp;data_type, unsigned int &amp;data_idx, const int offset=0)</div><div class="ttdoc">Read a point cloud data header from a FILE file.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a97dac034b56d0f4b3d1aa3d8b8f7ab25"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a97dac034b56d0f4b3d1aa3d8b8f7ab25">pcl::ASCIIReader::setExtension</a></div><div class="ttdeci">void setExtension(const std::string &amp;ext)</div><div class="ttdoc">Set the extension of the ascii point file type.</div><div class="ttdef"><b>Definition:</b> ascii_io.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_ac2b5e96e43e00f712717948300f21f6e"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#ac2b5e96e43e00f712717948300f21f6e">pcl::ASCIIReader::setSepChars</a></div><div class="ttdeci">void setSepChars(const std::string &amp;chars)</div><div class="ttdoc">Set the Separting characters for the ascii point fields 2.</div></div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_ad4de8700ce7fbcc001c8d18ac4b70ea0"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#ad4de8700ce7fbcc001c8d18ac4b70ea0">pcl::ASCIIReader::typeSize</a></div><div class="ttdeci">uint32_t typeSize(int type)</div><div class="ttdoc">Returns the size in bytes of a point field type.</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html"><div class="ttname"><a href="classpcl_1_1_file_reader.html">pcl::FileReader</a></div><div class="ttdoc">Point Cloud Data (FILE) file format reader interface. Any (FILE) format file reader should implement ...</div><div class="ttdef"><b>Definition:</b> file_io.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html_a6c7b7ed00b43536739a8465064426c1b"><div class="ttname"><a href="classpcl_1_1_file_reader.html#a6c7b7ed00b43536739a8465064426c1b">pcl::FileReader::read</a></div><div class="ttdeci">virtual int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)=0</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_field_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a></div><div class="ttdef"><b>Definition:</b> PCLPointField.h:17</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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